Rover-4.1.3-rc2 has just been released for beta testing. The changes vs 4.1.2 are in the release-notes and copied below:
a) CUAV-X7 servo voltage detection support
b) Support for IIM-42652, ICM-40605 and ICM-20608-D IMUs
- Bug fixes
a) Debug pins disabled by default to prevent rare inflight reset due to electrostatic discharge
b) EKF3 reset causing bad accel biases fixed (never reported on a user vehicle)
c) Main loop delay fix for boards with 16 bit timers (affects KakuteF4, MatekH743, MatekF405, MatekF765, SpeedybeeF4)
d) Polygon Fence upload fix when replacing fence with one that has fewer points
e) RC protocol detection fix that forced PH4-mini users to powerup autopilot before transmitter
f) SmartAudio high CPU load fix (previously it could starve other threads of CPU)
Note, this release is going out just 2 days after -rc1 because 2b and 2d could (or did) causes crashes on Plane or Multicopters.
In general we can rely on the Plane and Copter beta testers to test this release but any feedback is still greatly appreciated.